CN108799433A

CN108799433A - Wave sheet drive and its operating method

Info

Publication number: CN108799433A
Application number: CN201810400619.XA
Authority: CN
Inventors: 罗伯特·J·阿特姆尔; 威廉姆·帕特里克·萨金特
Original assignee: Boeing Co
Current assignee: Boeing Co
Priority date: 2017-05-03
Filing date: 2018-04-28
Publication date: 2018-11-13
Anticipated expiration: 2038-04-28
Also published as: JP2022166208A; AU2018202183A1; CA2996123C; KR102555630B1; US10267383B2; EP3399212A1; JP7126853B2; AU2018202183B2; US20190249753A1; US10612626B2; JP2024073539A; CN108799433B; US20180320760A1; KR20180122547A; RU2753017C1; JP7455914B2; JP2018189234A; EP3399212B1; CA2996123A1

Abstract

One kind waving sheet drive and its operating method, and it includes internal gear (16,116), wobble-plate (14,114,214) and output board (118) which, which waves sheet drive (10,110,210),.Internal gear has central stator axis (54,154) and multiple stator tooths (32,132).Wobble-plate have axis of oscillation (22,122,222), multiple end-tooths (28,128) and it is multiple wave tooth (30,130), and wobble-plate is arranged so that axis of oscillation relative to axis stator at non-zero angle of oscillation.Output board include multiple output gears (134) and with axis stator substantial registration.At least the two in these teeth is configured to be engaged with each other in a self-aligned manner so that when wobble-plate surrounds internal gear nutating, angle of oscillation is kept constant.

Description

Wave sheet drive and its operating method

Technical field

This disclosure relates to wave sheet drive.More specifically, the disclosed embodiments are related to for by oval soldered tooth The system and method that wheel system changes torque.

Background technology

Two or more gears can be used to generate mechanical advantage by gear ratio.Mode with many arrangement gears So that the single of first gear is rotated in the more than one or less than primary rotation for leading to second gear in the same amount of time Turn.In some applications it may be desirable to make motor that there is very high gear ratio, wherein The gear deceleration to be happened at the smallest possible volume In.

In history, wobble-plate driving mechanism seems with having towards the driver with high gear ratio in small size The approach of foreground.In waving sheet drive, a gear (such as rotor gear) is in another gear (such as internal gear) week Enclose nutating.As used herein, term " nutating (nutate) " or " nutation movement (nutation) " expression wave, swing or Round oscillating motion.The axis or fulcrum that rotor gear is usually aligned by holding gear teeth support.If rotor gear and stator tooth The quantity of gear teeth on wheel differs one, then this system is by the gear with the quantity equal to the tooth on internal gear Than.

In practice, it has proved that efficient and effective wobble-plate drive system is difficult to realize, this be because For inter alia, involved power typically result in the disengaging of mechanism, the Over-constrained caused by fulcrum, bonding or by It is inefficient caused by friction.

Invention content

Sheet drive, including internal gear, wobble-plate and output board are waved in a kind of autoregistration.Internal gear has center Axis stator and multiple stator tooths being arranged in inner cylinder.Wobble-plate has axis of oscillation, the engagement vertical with axis of oscillation Face, multiple end-tooths being arranged on joint surface and multiple it are arranged around the periphery of wobble-plate and are configured to nibble with stator tooth That closes waves tooth.Output board includes multiple output gears being configured to end face tooth engagement.

Wobble-plate be arranged so that axis of oscillation relative to axis stator at non-zero angle of oscillation, and output board and stator axis Line substantial registration.At least the two in these teeth is configured to be engaged with each other in a self-aligned manner so that when wobble-plate is fixed Around sub- gear when nutating, angle of oscillation is kept constant.

A method of sheet drive being waved for operating autoregistration, including internal gear, wobble-plate and output are provided Plate.This method further comprises, multiple stator tooths of internal gear is made to wave tooth with the multiple of wobble-plate in a self-aligned manner Engagement.Then this method includes that multiple end-tooths of wobble-plate is made to be nibbled in a self-aligned manner with multiple output gears of output board It closes.Finally, this method includes the nutating for causing wobble-plate around internal gear.

The disclosure provides plurality of devices and its application method.In some embodiments, sheet drive is waved to may include inputting Plate, wobble-plate and stator.In some embodiments, driver may include motor, wobble-plate, stator and output board.One In a little embodiments, wobble-plate, internal gear and each of tablet or output board may include that one group is configured to from right The tooth that accurate mode is engaged with each other.

Feature, function and advantage can independently realize in the various embodiments of the disclosure, or can be in other embodiment Middle combination, with reference to the following description and drawings it can be seen that the further details of these embodiments.

Description of the drawings

Fig. 1 is the exploded isometric view that sheet drive is waved according to the representativeness of all aspects of this disclosure.

Fig. 2 is the amplification bottom plan view of a part for the tablet for waving sheet drive of Fig. 1.

Fig. 3 is the amplification top plan view of a part for the internal gear for waving sheet drive of Fig. 1.

Fig. 4 is the decomposition isometric front view that sheet drive is waved according to another representativeness of all aspects of this disclosure.

Fig. 5 is the decomposition equidistant rearview for waving sheet drive of Fig. 4.

Fig. 6 is the isometric view of the wobble-plate for waving sheet drive of Fig. 4.

Fig. 7 is the sectional view for waving sheet drive of the Fig. 4 intercepted along the plane parallel with the rotation axis of driver.

Fig. 8 is another section view for waving sheet drive of the Fig. 4 intercepted along the plane of 45 degree of the Plane Rotation from Fig. 7 Figure.

Fig. 9 is the schematic diagram according to the isometric view of the wobble-plate and motor of all aspects of this disclosure.

Figure 10 is the diagram of the isometric exploded view of the motor of Fig. 9.

Figure 11 is the flow chart for depicting the representative application method for waving sheet drive according to all aspects of this disclosure.

Figure 12 is the stream for depicting another representative application method for waving sheet drive according to all aspects of this disclosure Cheng Tu.

Specific implementation mode

It summarizes

It is described below and in the relevant autoregistration wobble-plate drive illustrated with wobble-plate and stator The various embodiments of dynamic device.Unless specified otherwise herein, it otherwise waves sheet drive and/or its various parts may include, but not It is required that include be described herein, illustrate and/or comprising structure, component, at least one in function, and/or modification It is a.Moreover, be described herein in conjunction with this introduction, illustrate and/or comprising structure, component, function, and/or modification can It is included in other Ellipse motion driven devices, but does not require that being included in other waves in sheet drive.Below various embodiments Description is only substantially representative, is not intended to the limitation disclosure, its application or uses.In addition, being carried by these embodiments For the advantages of, be substantially illustrative, not all embodiment all provides identical advantage or identical journey as described below The advantages of spending.

Embodiment, component and alternative

Following section describes the representative selected aspects for waving sheet drive and related system and/or method. The purpose of example in these parts is intended to illustrate, and should not be construed as the full scope of the limitation disclosure.Each part May include one or more different inventions and/or context or relevant information, function and/or structure.

Example 1：

The virtual Ellipse motion driven device of autoregistration can be seen in Fig. 1 or waves one embodiment of sheet drive, usually used 10 indicate.Driver 10 includes tablet 12, wobble-plate 14 and internal gear 16.Tablet 12 (it can also be called output board, Depending on waving the desired use of sheet drive) rotation axis 20 is limited, internal gear 16 is centrally located around rotation axis.It shakes There is wobble plate 14 axis of oscillation 22 being arranged with non-zero angle relative to rotation axis, the non-zero angle can be called angle of oscillation.

Wobble-plate 14 has 24 and the upper joint surface 26 with multiple end-tooths 28 below substantially planar.End-tooth 28 Setting is in front on 26, and multiple teeth 30 that wave are arranged between face 24 and 26 around the periphery of wobble-plate, positioned at shake In the vertical plane of axis of oscillation.Tooth is waved with axis of oscillation parallelly and from face 26 towards face 24 to extend.

Wobble-plate 14 is arranged between tablet 12 and stator 16.24 is vertical with axis of oscillation and substantially towards fixed below Son 16, and the restriction of joint surface 26 and following parallel plane, but substantially towards tablet 12.It waves tooth 30 and end-tooth 28 exists Extend in the opposite direction parallel with axis of oscillation 22.

Tablet 12 includes annular input surface 36 in the outside of tablet, as most preferably seen in fig. 2.Input table Face 36 can be truncated cone shape.That is, annular input surface 36 is angled relative to the plane vertical with rotation axis 20 so that ring Point includes truncated cone line 38 each of on shape input surface, and truncated cone line may extend on rotation axis and under tablet 12 The vertex of side.When said elements are assembled to wave in sheet drive when, the truncated cone shape vertex on annular input surface 36 is close to shaking The barycenter of wobble plate 14.

Multiple input tooth 34 or one group of input tooth setting are on annular input surface 36.It can be used any appropriate number of Input tooth 34.Each input tooth 34 includes two drive surfaces 40,42, and each drive surface can be plane, be put down by more than one Face forms, or can be by one or more surface compositions for carrying curvature.

As described in Fig. 1,26 outside in front includes that annular waves surface 64 before wobble-plate 14, with Fig. 2 institutes The annular input surface 36 shown is similar.In other words, annular wave surface 64 relative to the plane vertical with axis of oscillation 22 at Angle so that it includes truncated cone line that annular, which is waved on surface and each to be put, and truncated cone line may extend into the truncated cone on axis of oscillation Shape vertex.The truncated cone shape vertex that annular waves surface 64 is overlapped with the barycenter of wobble-plate 14.In other embodiments, surface is waved There can be different shapes.

Multiple end-tooths 28 or one group of end-tooth setting are waved in annular on surface 64.It may be selected any appropriate number of End-tooth 28, and the quantity of end-tooth can be more, less or same than input tooth 34.Discribed In embodiment, the end-tooth 28 with equal amount and input tooth 34.Each end-tooth includes two driven surfaces, can be flat Face, it is made of more than one plane, or can be by one or more surface compositions for carrying curvature.

Wobble-plate 14 is configured to engage with tablet 12.More specifically, end-tooth 28 is configured to engage with input tooth 34.When When being rotated on setting direction of rotation, inputting the drive surface of tooth can engage tablet with the driven surface of end-tooth.That is, can have by Tablet is applied to by the interaction between the drive surface and the driven surface of multiple end-tooth of multiple input tooth and is shaken Contact force in wobble plate.These contact forces can cause wobble-plate to be rotated on identical setting direction of rotation.

In the example of driver 10, tablet 12 and wobble-plate 14 interact and according to 1:1 gear ratio rotation. That is, for each single complete rotation of tablet, wobble-plate is also accurately performed a complete rotation.Other are to gear ratio Selection is also possible, and will lead to different rotating speeds.

Wobble-plate 14 and tablet 12 may be configured so that any contact force applied between wobble-plate and tablet will It is directed toward and positioned at the tangent direction of the circle in the plane of rotation axis.To wave by constructing wobble-plate and tablet Contact force between plate and tablet is directed toward these directions, can avoid eccentric force.Eccentric force can cause multiple end-tooth 28 from Multiple input tooth 34 is detached from, or the barycenter of wobble-plate can be caused to vibrate, and the vibration to would not want to introduces driver.

Truncated cone shape, which inputs surface 36, leads to input with the complementary shape for waving surface 64 tooth 34 and end-tooth 28 with an angle Engagement so that if the vibration of the experience of driver 10 or displacement, the contact force between tooth forces tablet 12 and wobble-plate 14 Return to alignment.Therefore input tooth 34 and end-tooth 28 engage in a self-aligned manner so that when tablet and wobble-plate rotate Angle of oscillation is kept constant.

As shown in Figure 1, internal gear 16 has pedestal 48, and pedestal includes inner cylinder 50 and stator tooth pedestal 52.Bottom Seat 48 may include attachment point, be configured to the rest part for making stator 16 be operably coupled to the device using driver 10 (for example, driver 10 is contained in its internal device).Stator 16 can be fixed relative to the device.Internal gear limits and rotation The axis stator 54 of 20 substantial registration of axis.

Stator 16 has the internal volume 56 partly limited by inner cylinder 50.Internal volume 56 can be configured to receive and wave Part or all of plate 14, as described in more detail below.

Stator tooth 32 may be provided at any of inner cylinder 50 and stator tooth pedestal 52 above or on the rwo.In Fig. 1 Embodiment in, stator tooth extends in internal volume 56 in radial directions from inner cylinder towards rotation axis.Stator tooth is also It is extended parallel in the axial direction from stator tooth pedestal 52 with rotation axis.It may depend on application and expected gear ratio, selection Any appropriate number of stator tooth.

Fig. 3 is the top plan view of internal gear 16, shows the subset of multiple stator tooth 32.In multiple stator tooth Each tooth relative to rotation axis 20 have proximally and distally.The distal end of stator tooth can be couple to inner cylinder 50.Each tooth is also Include the second mating surface 68 including the first mating surface 66, and on the opposite side of tooth.Each mating surface can be plane , it is made of more than one plane, or by one or more surface compositions for carrying curvature.One or two of stator tooth 32 Mating surface 66,68 can be by justifying and elliptical compound involute limits.Alternatively, curve can be virtual ellipse for 0 and 2 Between π radians projection in angled tooth position.

Each of multiple stator tooth 32 is wedge-shaped.That is, the restriction of the first mating surface 66 can extend through swinging shaft The line 70 of line.When wobble-plate and internal gear are coupled in driver together, barycenter that line 70 passes through wobble-plate.Second engagement Surface 68 limits the line 72 that also can extend through axis of oscillation.When both wobble-plate and internal gear are coupled in gear-box system together System in when, line 72 also by wobble-plate barycenter.

Each tooth in multiple internal gear 32 includes engaging portion and support base.Engaging portion includes the first engagement Surface and the second mating surface.Support base makes engaging portion be couple to stator tooth pedestal 52.Stator tooth also can be by other structures Support, or it is couple to stator tooth pedestal in any suitable manner.

As shown in Figure 1, multiple wave the periphery week being arranged between tooth 30 below 24 and joint surface 26 in wobble-plate 14 It encloses, and in the plane vertical with axis of oscillation 22.Tooth is waved to shake from the outer cylinder of wobble-plate 58 is separate in radial directions Axis of oscillation extends.Tooth is waved also in the axial direction to extend along axis of oscillation from waving bottom of the tooth seat 60.Waving bottom of the tooth seat can be with It is the component of sub-circular, is couple to wobble-plate or one is made with wobble-plate.Make to wave tooth and is connected to cylinder or waves Any of bottom of the tooth seat or the rwo can make it is multiple wave tooth have physical support or a degree of rigidity.It may be selected It is any it is appropriate number of wave tooth 30, and wave tooth quantity can it is more, less than stator tooth 32 or and its It is identical.

Stator tooth 32 as shown in figure 3 is similar, and it includes the first mating surface each to wave tooth 30, and on the opposite side of tooth Including the second mating surface.Each surface can be plane, be made of more than one plane, or carried by one or more The surface composition of curvature.Waving one or two mating surface of tooth 30 can be limited by circle and elliptical compound involute.Optionally Ground, curve can be it is virtual oval between 0 and 2 π radians projection in angled tooth position.

Multiple each of tooth that waves is wedge-shaped.That is, the restriction of the first mating surface can extend through axis of oscillation First Line.Second mating surface limits the second line that can extend through axis of oscillation.First Line and the second line all pass through wobble-plate Barycenter.

In addition, it includes engaging portion and support base each to wave tooth 30.Engaging portion includes the first mating surface and the Two mating surfaces.Support base makes engaging portion be connected to wave bottom of the tooth seat 60.Waving tooth can also be supported by other structures, or It is couple in any other suitable and waves bottom of the tooth seat.

Wobble-plate 14 is configured to engage with internal gear 16.It is configured to nibble with internal gear 32 more specifically, waving tooth 30 It closes.In the case of tablet 12 rotates in the first rotational direction, the first mating surface for waving tooth can be with the of stator tooth One mating surface engages.That is, can have by internal gear through the first mating surface of multiple stator tooth and multiple wave Interaction between first mating surface of tooth and be applied to the contact force on wobble-plate.These contact forces can lead to wobble-plate Rotation and the nutating on the first nutating direction in the first rotational direction.

In general, there is internal gear n stator tooth, wobble-plate there is m to wave tooth, wherein n and m be differ one or Multiple integers, but usually difference one.When wobble-plate surrounds internal gear nutating, multiple each tooth waved in tooth It can be with a tooth engagement in multiple stator tooth during single nutating.When can have than waving one more than tooth stator When tooth, wobble-plate can slightly rotate during single nutating.

Specifically, the 1/m of wobble-plate rotatable complete rotation during the single nutating of wobble-plate.In other words, If wobble-plate rotates the 1/m of complete rotation, it would be possible that due to the interaction with tablet, wobble-plate can be completed Primary complete nutating.Therefore, wobble-plate and internal gear can be according to m:1 gear ratio interaction.For the m times every of wobble-plate Nutating, wobble-plate can accurately rotate once.Therefore, the gear ratio of disclosed system can be respectively by wobble-plate and internal gear Number of teeth m and n determine.

Wobble-plate and internal gear may be configured so that any contact force being applied between it will be directed toward vertical with being located at The tangent direction of circle in the plane of rotation axis.Contact force may point to substantially perpendicular to axis of oscillation 22 and substantially hang down Directly in the direction for the radial line for extending to axis of oscillation 22 from the contact point waved between tooth 30 and stator tooth 32.

Stator tooth 32 and the wedge-type shape for waving tooth 30 limit complementary conical surface, and tooth is caused to be nibbled with an angle It closes so that if driver 10 undergoes vibration or displacement, the contact force generated from engagement forces wobble-plate 14 to return to and determine Sub- gear 16 is aligned.Therefore tooth engages in a self-aligned manner so that when wobble-plate surrounds stator nutating, angle of oscillation keeps permanent It is fixed.

The shape of wobble-plate 14 and internal gear 16 is substantially circular, projection of the wobble-plate on stator due to it not With orientation but ellipse.It is multiple to wave tooth 30 and the virtual ellipse be by being incident upon in tooth position by stator tooth 32 Show profile.Therefore, ellipse projection of the wobble-plate 14 on stator 16 can be limited to non-eccentricity rotation.If allowed, Eccentric motion may drive big out-of-balance force, which generates unacceptable system performance.

Sheet drive is waved to be construed as by the mechanical constrained system of the Eulerian equation control for wobble-plate, the Euler Equation generates rotatory inertia referential.Consider Euler's z-axis equation,

Wherein, T is torque, and I is rotary inertia, and ω is angular speed.This equation shows that, according to the direction of the torque, axis will Undergo opposite rotation.Torque or kinetic energy can be received into system and as opposite rotation.Changing wobble-plate Input energy can be used when 14 momentum vector.

The movement to wobble-plate 14 can be configured to and provide mechanical constraint, such as the engagement table of tooth by waving tooth 30 and stator tooth 32 Face can be limited by circle and elliptical compound involute.In such configuration, the rotary speed of the maximum possible of wobble-plate be less than or Equal to the speed met needed for the ODE (solution) of Eulerian equation.When wobble-plate is accelerated, this generates use To increase the power of angle of oscillation.The power is balanced by being contacted with tablet 12, to keep angle of oscillation constant.

In other words, when the wobble-plate of nutating undergoes torque by being engaged with tablet, angle of oscillation would tend to increase Add.Tablet is separated with stator with preset distance so that it limits wobble-plate relative to internal gear.Therefore angle of oscillation keeps permanent It is fixed, and when wobble-plate surrounds stator nutating, there is no part to be more than the preset distance with a distance from internal gear on wobble-plate.

Representative described in this introduction waves sheet drive and can store and absorb input torque or exportable have The stored torque of the amount of limit.In the first case, the input tooth 34 of tablet 12 and the end-tooth 28 of wobble-plate 14 are nibbled It closes, to cause wobble-plate to rotate.The tooth 30 that waves of wobble-plate is engaged with the stator tooth 32 of internal gear 16, to cause wobble-plate Nutating.Wobble-plate stores when nutating and absorbs input torque.

It can consider to wave sheet drive according to the virtual ellipse formed by making wobble-plate be incident upon on stator.It waves Plate 14 and stator 16 could generally have a contact point.Virtual elliptical edge can limit shaking for oval engagement in three dimensions Wobble plate and stator continuously contact with line.In four times of the wobble-plate chapter comprising the angle between axis of oscillation 22 and rotation axis 20 Under dynamic movement, virtual elliptical shape can remain unchanged.When nutating occurs, the rotation of the contact line only defined by Eulerian equation System can advance (advance).Point can be fallen on compound geometric distortion infolute function each of in contact line, and the function exists Can be symmetrical under rotation and nutating, to allow to be transferred to virtual oval by Continuous Energy and connect from virtual oval transfer Continuous energy.

When inertial system rotates, virtual ellipse can be static, and all the points in contact line are existed with constant angular speed It is rotated in the horizontal plane of its own.Point in the radial edges for the wobble-plate 14 seen during nutating, which can express out, to be carried The vertical and straight movement of continually changing speed.The variation of this speed may need the Constant Acceleration of the inertia of wobble-plate, to move It can input and be absorbed into system.

In the second situation for waving the stored torque of sheet drive output, the rotation of wobble-plate can lead to tablet Rotation.In this case, the rotation of wobble-plate 14 and nutating, but tablet 12 does not suffer from external torque.

When wobble-plate when rotating in the first direction, wave tooth the first driven surface can with input tooth the first drive surface nibble It closes.That is, can have by wobble-plate by the first driven surface of multiple end-tooth and the first drive surface of multiple input tooth it Between interaction and be applied to the contact force on tablet.These contact forces can cause tablet to rotate in a first direction. In other words, it is believed that tablet is output board.

Example 2：

Another embodiment of the virtual Ellipse motion driven device of autoregistration can be seen from the different angle in Fig. 4 and Fig. 5, and usually It is indicated with 110.Driver 110 includes input motor 112, wobble-plate 114, internal gear 116 and output board 118.Motor 112 Rotation axis 120 is limited, internal gear 116 and output board 118 are centrally located around rotation axis.Wobble-plate 114 is relative to rotation Shaft axis is arranged with non-zero angle.

Wobble-plate 114 is with substantially flat below 124 and with carrying multiple end-tooths 128 and multiple wave tooth 126 before 130.The setting of end-tooth 128 is in front on 126, and waves tooth 130 and be arranged between face 124 and 126 and waving Around the periphery of plate, it is located in the plane vertical with axis of oscillation.It waves tooth 130 and end-tooth 128 is being parallel to axis of oscillation Extend in the same direction of 122 (shown in Fig. 6).

When assembling driver 110, motor 112 is engaged with behind wobble-plate 114 124, to cause wobble-plate around fixed Sub 116 nutatings.Stator (it can also be called internal gear) includes multiple stator tooths 132, is configured to and waves tooth 130 and engage, It is rotated so as to cause wobble-plate.Output board 118 includes the multiple output gears 134 for being configured to engage with end-tooth 128, to wave Plate causes output board also to rotate.By this method, motor 112 can be by by the first gear ratio between wobble-plate 114 and stator 116 And the second gear between wobble-plate 114 and output board 118 makes output board 118 rotate than determining torque.

In the embodiment drawn in figures 4 and 5, input motor 112 is with substantially flat surface 136 and includes It is couple to the motor of the first boxlike (cartridge) bearing 138 and the second cartridge bearings 140 of the flat surfaces, this is basic Upper flat surface is vertical with rotation axis 120.Bearing 138,140 can be most preferably seen in Fig. 4.First bearing can be with second Bearing is angularly spaced apart from 89 degree, as measured relative to rotation axis 120.Bearing can be adjacent to the longitudinal edge of flat surfaces 136 Edge and be couple to the plane.

Bearing 138,140 extends from surface 136 so that bearing 138 or bearing 140 are contacted with behind wobble-plate 124.This The nearest points of proximity that contact is located between motor and wobble-plate are angularly spaced apart from 45 degree of point, such as relative to rotation axis It measures.Bearing construction is to be in rolling contact with behind wobble-plate 114 124, to be engaged with wobble-plate to cause nutating.

In the embodiment that other are not drawn, can be formed on the flat surfaces 136 of motor 112 single circular protrusions (and It is not two protrusions).Circular protrusions can be contacted being angularly spaced apart from the nearest points of proximity at 45 degree of point with wobble-plate 114, As measured relative to rotation axis.Other embodiment may include two protrusions separated by the angle between 80 degree and 100 degree, But it is accurately not necessarily 89 degree.It is convex that other embodiments may include that three or more extend from flat surfaces 136 It rises.

Regardless of the quantity of circular protrusions, can lubricant be set between motor 112 and wobble-plate 114, to reduce circle Friction between 124 behind shape protrusion and wobble-plate.Moreover, any shape can be used in protrusion, or may include being intended to carry For one or more protrusions any mechanism engaged is rolled with the low friction of wobble-plate 114.

As shown in fig. 6, wobble-plate 114 has the shape similar to disk, with 124, front 126 and central axial line below or Person's axis of oscillation 122.Wobble-plate 114 is set to be aligned, so that axis of oscillation 122 forms non-zero angle with rotation axis 120.Below 124 is vertical with rotation axis, and front 126 limits and parallel plane below.As shown in Fig. 4 to Fig. 5, behind 124 substantially faces To input motor 112, and front 126 is substantially back to motor.

Fig. 4 to Fig. 5 is returned to, multiple tooth 130 that waves is arranged between 124 and front 126 in wobble-plate 114 below Around periphery, and it is arranged in the plane vertical with axis of oscillation 122.Tooth is waved in radial directions from the column jacket of wobble-plate Face 158 far from axis of oscillation extends.Tooth is waved also in the axial direction to extend along axis of oscillation from waving bottom of the tooth seat 160. The component that bottom of the tooth seat can be about annular is waved, wobble-plate is couple to or one is made with wobble-plate.It is multiple to wave Tooth can extend from cylinder 158 with both bottom of the tooth seats 160 are waved.Make to wave tooth any of to be connected to cylinder or wave bottom of the tooth seat Or the rwo can make multiple tooth that waves have physical support or a degree of rigidity.Any appropriate number of shake may be selected Put tooth 30.

Each tooth 130 that waves includes the first mating surface, and includes the second mating surface on the opposite side of tooth.Each table Face can be plane, be made of more than one plane, or by one or more surface compositions for carrying curvature.Wave tooth 130 one or two mating surface can be limited by circle and elliptical compound involute, as will be discussed in more detail below. Alternatively, curve can be it is virtual oval between 0 and 2 π radians projection in angled tooth position.

In addition, it includes engaging portion and support base each to wave tooth 130.Engaging portion includes the first mating surface and the Two mating surfaces.Support base makes engaging portion be connected to wave bottom of the tooth seat 160.

For multiple each tooth waved in tooth 130 and stator tooth 132, in the first mating surface and the second mating surface One or two can by circle and elliptical compound involute limit.That is, the curve of the second mating surface can be determined by the first equation Justice：

Wherein, C be can be proportional to the radius of wobble-plate constant,The value from 0 to pi/2 radian can be used, D can be Normal number less than 1.D may have about 0.65 value, although other values are also possible.Above equation (1) can be made to standardize With unified.

Alternatively, the curve of the second mating surface can be defined by second equation：

Wherein, C be can be proportional to the radius of wobble-plate constant,The value from 0 to pi/2 radian can be used, D can be Normal number less than 1.D may have about 0.65 value, although other values are also possible.

Above equation (2) can be made to be normalized into the radius of wobble-plate.The curve of second mating surface can be virtual ellipse For between 0 and 2 π radians projection in angled tooth position.The curve of first mating surface can be the second engagement The mirror image of the curve on surface, be reflected in the vertex by tooth and include rotation axis plane on.Moreover, the first mating surface and Second mating surface can smoothly contact on the vertex of each tooth.Therefore tooth cross-sectional shape can by circle and it is elliptical it is compound gradually It bursts at the seams restriction.

As described in Fig. 6,126 wave surface 164 including annular before wobble-plate 114, in discribed implementation It is frusta-conical surface in example.It is at an angle of relative to the plane vertical with axis of oscillation 122 that is, annular waves surface 164 so that ring It includes truncated cone line that shape, which each of waves on surface point, and truncated cone line may extend into the truncated cone shape vertex on axis of oscillation.Annular The truncated cone shape vertex for waving surface 164 is overlapped with the barycenter of wobble-plate 114.In other embodiments, waving surface can have not Same shape.

Multiple end-tooths 128 or one group of end-tooth setting are waved in annular on surface 164.Any suitable quantity may be selected End-tooth 128, and the quantity of end-tooth can be more, less or same than output gear 134.It is being retouched In the embodiment painted, end-tooth 128 and output gear 134 with equal amount.Each end-tooth includes two drive surfaces, can It to be plane, is made of more than one plane, or can be by one or more surface compositions for carrying curvature.

Referring again to Fig. 4 to Fig. 5, internal gear 116 has pedestal 148, and pedestal includes inner cylinder 150 and stator tooth Pedestal 152.Pedestal 148 may include attachment point, be configured to that stator 116 is made to be operably coupled to appointing using driver 110 The rest part of what device.Stator 116 can be fixed in the environment of the device.Internal gear limits and rotation axis The axis stator 154 of 120 substantial registrations (thus also with output axis substantial registration).Stator is arranged in wobble-plate 114 Between output board 118.

Stator 116 has the internal volume 156 partly limited by inner cylinder 150.Internal volume 156 can be configured to receive Part or all of wobble-plate 114, as described in more detail below.

Stator tooth 132 may be provided on any of inner cylinder 150 and stator tooth pedestal 152 or two.Stator tooth It is extended in radial directions from inner cylinder towards rotation axis in internal volume 156.Stator tooth is also in the axial direction from fixed Sub- bottom of the tooth seat 152 extends along rotation axis.Depending on applying and being expected gear ratio, any appropriate number of stator may be selected Tooth.The quantity of stator tooth can be than waving the more, less or same of tooth 130.

Each tooth in multiple stator tooth can have proximally and distally relative to rotation axis 120.The distal end of stator tooth Inner cylinder 150 can be couple to.Each tooth includes the first mating surface, and includes the second mating surface on the opposite side of tooth.Often A mating surface can be plane, be made of more than one plane, or by one or more surface compositions for carrying curvature.

One or two mating surface of stator tooth 132 can be limited by circle and elliptical compound involute, as described before 's.Alternatively, curve can be it is virtual oval between 0 and 2 π radians projection in angled tooth position.

Each tooth in multiple internal gear 132 includes engaging portion and support base.It is nibbled including first engaging portion Close surface and the second mating surface.Support base makes engaging portion be couple to stator tooth pedestal 152.

As described in Fig. 4 to Fig. 5, output board 118 includes multiple output gears being arranged on annular output surface 162 134.Output board 118 also has the output axis with 120 substantial registration of rotation axis.

Most preferably see in Figure 5, output surface 162 is truncated cone shape.That is, annular output surface 162 relative to rotation The vertical plane of shaft axis 120 is angled so that point includes truncated cone line each of on annular output surface, and truncated cone line may extend into Truncated cone shape vertex on rotation axis and before output board 118.When said elements are assembled in driver 110, annular The truncated cone shape vertex of output surface 162 is overlapped with the barycenter of wobble-plate 114.In other embodiments, output surface can have not With shape, such as the truncated cone shape with different vertex or it is cylindrical.

May be selected any appropriate number of output gear 134, and the quantity of output gear can than end-tooth 128 quantity more It is more, less or same.Each output gear includes two driven surfaces, and each driven surface can be plane, by more than one A plane composition, or can be by one or more surface compositions for carrying curvature.

Fig. 7 to Fig. 8 is the sectional view of driver 110, show motor 112 in assembling structure, wobble-plate 114, Internal gear 116 and output board 118.Motor and output board is set to be aligned along axis stator 154.That is, making rotation axis, output Axis and axis stator substantial registration.Can by wobble-plate and axis of oscillation 122 relative to axis stator with any expected and Suitable non-zero angle setting.When wobble-plate 114 surrounds 118 nutating of stator 116 and output board, the barycenter of wobble-plate is basic It is upper fixed.

Fig. 8 is the cross section being located at from the plane of the cross section of Fig. 7 in the plane that axis stator 154 rotates 45 degree, And amplified it is each in angle with the relationship between more clearly display unit.

Wobble-plate 114 is configured to engage with internal gear 116.It is configured to and stator tooth 132 more specifically, waving tooth 130 Engagement.In the case of motor 112 rotates in the first rotational direction, the first mating surface for waving tooth can be with the of stator tooth One mating surface engages.That is, can have by internal gear through the first mating surface of multiple stator tooth and multiple wave Interaction between first mating surface of tooth and be applied to the contact force on wobble-plate.These contact forces can lead to wobble-plate Rotation and the nutating on the first nutating direction in the first rotational direction.

Specifically, wobble-plate rotatable complete rotation (complete during the single nutating of wobble-plate Rotation 1/m).In other words, if the 1/m of wobble-plate rotation complete rotation, it would be possible that being due to the phase with motor The reason of interaction, wobble-plate can complete primary complete nutating.Therefore, wobble-plate and internal gear can be according to m:1 gear ratio Interaction.Every m nutating for wobble-plate, wobble-plate can accurately rotate once.Therefore, the gear of disclosed system Than that can be determined respectively by the number of teeth m and n of wobble-plate and internal gear.

Wobble-plate and internal gear may be configured so that any contact force being applied between it will be directed toward vertical with being located at The tangent direction of circle in the plane of rotation axis.Contact force may point to substantially perpendicular to axis of oscillation 122 and substantially Perpendicular to the direction for the radial line for extending to axis of oscillation 122 from the contact point waved between tooth 130 and stator tooth 132.

The shape of wobble-plate 114 and internal gear 116 is substantially circular, and projection of the wobble-plate on stator is due to it Different orientations but ellipse.It is multiple to wave tooth 130 and stator tooth 132 be by being incident upon tooth position by the virtual ellipse Above show profile.Therefore ellipse projection of the wobble-plate 114 on stator 116 can be limited to non-eccentricity rotation.If allowed If, eccentric motion may drive big out-of-balance force, which generates unacceptable system performance.

Wobble-plate 114 is also configured to, and is engaged with output board 118 by the engagement of end-tooth 128 and output gear 134.When When wobble-plate rotates in the first rotational direction, waving the first drive surface of tooth can engage with the first driven surface of output gear.That is, Can have and the phase between the first drive surface of multiple end-tooth and the first driven surface of multiple output gear is passed through by wobble-plate Interaction and be applied to the contact force on output board.These contact forces can cause output board to rotate in the first rotational direction.When When wobble-plate rotates in a second rotational direction, the contact between the second drive surface of tooth and the second driven surface of output gear is waved Power can cause output board to rotate in a second rotational direction.

Sheet drive 110 is waved representative, output board and the wobble-plate number of teeth having the same, that is, output gear Quantity is equal to the quantity of end-tooth.Therefore, in the embodiment depicted, output board and wobble-plate interact and according to 1:1 Gear ratio rotation.That is, for each complete rotation of wobble-plate, output board is also accurately performed a complete rotation.For Other selections of the quantity of output gear and end-tooth are also output gear ratio that is possible, and will leading to other values.

Wobble-plate 114 and output board 118 can be configured to so that any contact force being applied between it will be directed toward and is located at The tangent direction of circle in the plane of rotation axis.For example, contact force may point to be substantially perpendicular to axis of oscillation 122 And the side of the radial line of axis of oscillation 122 is extended to substantially perpendicular to the contact point between end-tooth 128 and output gear 134 To.

Make the contact force between it be directed toward these directions by constructing wobble-plate and output board, can avoid eccentric force.Partially Mental and physical efforts may result in multiple end-tooth and are detached from from multiple output gear, or may result in the barycenter oscillation of wobble-plate, Vibration to would not want to introduces drive system.

Wobble-plate 114 can have 0 degree of position or point 142, can be the position farthest from output board 118 on wobble-plate It sets or point, as measured on the direction for being parallel to rotation axis 120.At 0 degree of position, as shown in fig. 7, wobble-plate 114 can Closest to motor 112.Wobble-plate 114 can have 90 degree of positions or point, can along the first nutating direction since 0 degree of position At a quarter of the route of wobble-plate.For example, advantage point (the vantag such as above the wobble-plate near output board Point it) observes, 90 degree of positions can be 90 degree around the periphery of wobble-plate in the counterclockwise direction.It continues around and shakes The periphery of wobble plate, 180 degree position or point 144 can be located on the side opposite with 0 degree of position 142 of wobble-plate.180 degree position Wobble-plate can be marked to the nearest points of proximity of output board and internal gear and from the point of motor maximum distance.270 degree of positions or point It can be located on the side opposite with 90 degree of positions of wobble-plate.

Motor 112 can be set in this way so that 0 degree of point 142 setting moment and motor bearing 138,140 (not shown) it Between flat surfaces 136 contact, as described in the figure 7.Only there are one can put 146 in synchronization, bearing 138,140 It is contacted with behind wobble-plate 114 124, as described in fig. 8.Motor can be configured to that bearing is made to revolve around axis stator 154 Turn, surrounds 116 nutating of internal gear so as to cause wobble-plate 114, wherein axis of oscillation 122 surrounds axis stator turn (precess).Therefore the contact point 146 between bearing and wobble-plate 114 can be mobile in 144 front of 180 degree point.

In the case of motor rotates in a first direction, bearing 38 can be between 0 degree of position 142 and 270 degree of positions It contacts, and can be engaged with wobble-plate to lead to wobble-plate nutating in a first direction with behind wobble-plate 124 at point.Fig. 8 Show the bearing 138 in such case.In the case of motor rotates in a second direction, bearing 140 can be 0 degree of position It contacts, and can be engaged with wobble-plate to cause wobble-plate to exist with behind wobble-plate 124 at point between 142 and 90 degree of positions Nutating in second direction.

When driver 110 is in use, wobble-plate 114 is usually rotated nutating and also.Wobble-plate can be described as It is configured to surround 116 nutating of internal gear, surrounds 112 nutating of motor, and/or surround 118 nutating of output board.In wobble-plate On one nutating direction in the case of nutating, 0 degree of position of wobble-plate can be moved towards the current location of 90 degree of positions so that complete After a quarter of whole nutating, 90 degree of positions have changed into 0 degree of position, and 180 degree position has changed into 90 degree of positions, etc.. Moreover, wobble-plate can not be rotated with the phase same rate of its nutating.That is, when the complete nutating of wobble-plate completion single, 0 degree of position Can advance wobble-plate entire periphery distance.During at the same time, wobble-plate is rotatable to be less than a complete rotation.Rotation Rotational speed rate can be determined by nutating rate and by waving the gear ratio between tooth 130 and internal gear 116.

At any moment when wobble-plate nutating, waving tooth 130 can be along a quarter and stator tooth of internal gear 132 engagements.This engagement can be the form being in rolling contact, wherein the first mating surface along rolling each other.This is in rolling contact can It is opposite with many master gears engagement (the opposite face of wherein gear teeth interacts via sliding contact).In general it is assumed that relating to And identical two surfaces, it is in rolling contact with the much smaller friction of the sliding contact between than two surfaces.

When the nutating on the first nutating direction, wave tooth 130 can only between 0 degree of position and 270 degree of positions with stator Tooth 132 contacts, and this contact can be limited to multiple wave being in rolling contact between tooth and the subset of stator tooth.Therefore, it waves Plate can surround friction nutating small in the case where stator is with than sliding contact.This construction can cause nutation movement or energy to rotation Transhipment is moved or effective transfer of energy.

Similarly, any moment when wobble-plate nutating, end-tooth 128 can only along output board a quarter with Output gear 134 engages.When wobble-plate nutating in a first direction, end-tooth and output gear can be 180 degree positions 144 and 90 degree It is engaged between position.By this engagement, wobble-plate 114 can cause output board 118 to be rotated up in side identical with wobble-plate.? In the embodiment drawn (gear ratio wherein between end-tooth 128 and output gear 134 is 1), output board 118 can also with 114 identical speed of wobble-plate rotates.Therefore the rotation of motor 112 can be transferred to output board 118 with higher torque.

Example 3：

Fig. 9 is the motor 212 and wobble-plate of another embodiment of the virtual Ellipse motion driven device of autoregistration usually indicated with 210 214 schematic diagram.The embodiment of Fig. 9 can sheet drive 110 be similar with waving described in example 2, and driver 110 The discussion of various features and benefit will not be repeated again about driver 210 on the whole.Similar component can be similarly indexed, still Increase by 200.

Wobble-plate 214 have axis of oscillation 222, it is substantially flat below, with before multiple end-tooths, Yi Ji Be arranged around the periphery of wobble-plate between flat surface and front multiple waves tooth.End-tooth and wave tooth not table in fig.9 Show, but for example can be as shown in Figure 6.Sheet drive is waved to further comprise the output board for carrying output gear and carry stator tooth Stator, do not draw, but can be such as (see Fig. 4 to Fig. 5) before described in example 2.

Motor 212 has electrical axis 220.Wobble-plate is configured to surround motor nutating, and axis of oscillation surrounds electrical axis Turn.That is, wobble-plate 214 has the nearest points of proximity 242 of the movement relative to motor.The mobile nearest points of proximity 242 can be It is moved upward around electrical axis 220 the nutating side indicated by arrow 243.

In representative driver 210, wobble-plate 214 around motor 212 nutating by being applied to the electromagnetism of wobble-plate Power drive.These power from motor and are applied to wobble-plate at a position, which is moving most along nutating direction 243 242 front of proximity near point.

The power indicated by the arrow 245 in Fig. 9 is applied to wobble-plate 214 in pilot point 246, pilot point distance is moved 242 90 degree of the dynamic nearest points of proximity.Power 245 is attraction, and may point to motor 212 or along being parallel to electrical axis 220 direction.When wobble-plate nutating and 0 degree of position 242 and pilot point 246 all surround wobble-plate movement, power 245 is also around shaking Wobble plate moves so that power 245 is always applied to wobble-plate adjacent to pilot point 246.That is, the power 245 applied can be described as edge Nutating direction 243 is before the mobile nearest points of proximity.Cause in the power that the nearest points of proximity front of the movement of wobble-plate applies The nutating of wobble-plate.

Power 245 is result of the material to the reaction of the electromagnetic field generated by motor 212 of wobble-plate 214.Motor includes forever Magnet and one group of electromagnetic coil.Permanent magnet and this group of electromagnetic coil jointly constructs are that magnetic field is generated between motor and wobble-plate. That is, generating magnetic field in gap 266 between motor 212 and wobble-plate 214.Wobble-plate is by being configured to the magnetosensitive in response to magnetic field Material is made.When there are magnetic field, magnetic-sensitive material can become to make itself to magnetize.The power that wobble-plate passes through experience such as power 245 And it reacts.

The power for being applied to wobble-plate can be proportional to the flux density in the magnetic field between wobble-plate and motor.In order to influence The power that the shift position of mobile 242 front of the nearest points of proximity applies, permanent magnet and this group of electromagnetic coil can be configured in nutating The magnetic field with highest flux density is generated on direction 243 at the shift position before the mobile nearest points of proximity.Electromagnetic wire Circle may be configured so that when wobble-plate nutating, the highest flux density in magnetic field is maintained at before the mobile nearest points of proximity.

Figure 10 is the diagram of the isometric exploded view of motor 212.Motor includes 270, one groups of permanent magnet 268, motor core magnetic Quick pole piece 272 and one group of electromagnetic coil 274.Can be described relative to electrical axis the component of motor 212 be oppositely arranged and it is fixed To.Term " axially " will refer to the linear direction parallel with electrical axis 220.Term " radially " will refer to and motor The vertical linear direction of axis 220.Term " circumferentially " will refer to around the angular direction of electrical axis, but not be along motor The angular direction of axis or separate electrical axis.

Permanent magnet 268 can have any suitable shape, and can be configured to generate any suitable magnetic field.What is drawn In example, permanent magnet is cylindrical, and wherein electrical axis 220 is used as the axis of symmetry, and permanent magnet includes along electrical axis Pass through the channel 276 of permanent magnet.Permanent magnet 268 can be made of any suitable ferromagnetic material.Permanent magnet 268 has substantially edge The north magnetic pole and south magnetic pole of the alignment of electrical axis 220.The magnetic field generated by permanent magnet can be called primary magnetic field.

Motor core 270 is arranged below permanent magnet 268.Motor core 270 can be by that can obtain when being placed in magnetic field The magnetic-sensitive material of magnetic moment is formed.For example, motor core 270 can be made of electrical sheet or electrician's iron.Motor core 270, which can have, appoints What suitable shape.In the example drawn, motor core is cylindrical, and wherein electrical axis 220 is used as the axis of symmetry, and electricity The radius of machine magnetic core is matched with the radius of permanent magnet 268.Motor core includes the channel being aligned with the channel 276 by permanent magnet 278。

Motor 212 includes the leveling plates 280 being arranged between permanent magnet 268 and motor core 270.Leveling plates 280 The magnetic field for being transferred to motor core from permanent magnet can be limited, and can help to adjust the size in the magnetic field generated by motor 212.

This group of magnetosensitive pole piece 272 circumferentially distributes around motor core 270.Pole piece 272 can be by the magnetic field in motor 212 It is directed to another component from a component of motor.Pole piece can be made of any suitable magnetic-sensitive material, such as electrical sheet.It can With any appropriate number of pole piece.Embodiment shown in Fig. 10 includes 12 pole pieces.Pole piece can have any suitable shape Shape.12 pole pieces shown in Fig. 10 are wedge-shaped, and are alternatively described as wedge piece.Pole piece 272 is padded vertically by one group Piece 282 separates, and the magnetic field in the pole piece between vertical gasket is isolated in the help of these gaskets.

This group of magnetosensitive pole piece 272 has surface area 284 jointly.On the size of pole piece and structure being constructed so that The size of surface region is to make a reservation for the surface area of multiple permanent magnets 268.In some embodiments, the surface area of pole piece 284 can be three times of the surface area of permanent magnet.

This group of electromagnetic coil 274 be circumferentially disposed at around motor core 270 and motor core and magnetosensitive pole piece 272 it Between.This group of electromagnetic coil includes first group of electromagnetic coil and second group of electromagnetic coil.In the example drawn, first group of electromagnetic wire Circle includes three interior electromagnetic coils 286, and second group of electromagnetic coil includes three outer electromagnetic coils 288.Three outer electromagnetic coils 288 It is arranged between interior electromagnetic coil 286 and this group of magnetosensitive pole piece 272.First group of electromagnetic coil and second group of electromagnetic coil may include Any appropriate number of coil, including two, three and more than three coil.First group of electromagnetic coil and second group of electromagnetic coil In coil quantity do not need it is identical.

In each of first group of electromagnetic coil 286 electromagnetic coil adjacent with a pair of second group of electromagnetic coil 288 Each circumferentially it is overlapped.Each of second group of electromagnetic coil 288 electromagnetic wire adjacent with a pair of first group of electromagnetic coil 286 Each of circle is circumferentially overlapped.Each of this group of electromagnetic coil 274 has the coil vertically oriented with electrical axis 220 Axis 290.Each electromagnetic coil includes one or more conductors that multiple closed loops are formed around coil axis 290.When this group electricity When each of magnetic coil carries electric current, each coil generates the magnetic field for being arranged essentially parallel to coil axis orientation in coil.

If interior electromagnetic coil 286 and outer electromagnetic coil 288 are circumferentially overlapped as described above, by an electromagnetic wire The magnetic field line that circle generates may pass through the one or more closed loops limited by another electromagnetic coil.By an interior electromagnetic coil 286 The part in the magnetic field of generation may pass through a pair of adjacent each of outer electromagnetic coil 288.If at this to adjacent outer electromagnetism There is angle gap 292, then the part in the magnetic field generated by interior electromagnetic coil can be not passed through this to adjacent outer between coil Any of electromagnetic coil.

Similarly, the part in the magnetic field generated by an outer electromagnetic coil 288 may pass through a pair of adjacent interior electromagnetic coil Each of 286.If there is angle gap 294 between adjacent interior electromagnetic coil at this, generated by outer electromagnetic coil The part in magnetic field can be not passed through this to adjacent any of interior electromagnetic coil.

Motor 212 includes the upper member 296 being arranged above permanent magnet and this group of magnetosensitive pole piece 272.Upper member can cover The surface area of pole piece and the surface area of permanent magnet.Upper member includes channel 298, with the channel by permanent magnet 276 substantial registrations.Upper member 296 can be made of any suitable material, for example, such as electrical sheet magnetic-sensitive material.

The magnetic field generated by motor enters and leaves upper member in the axial direction.Wobble-plate 214 is provided with neighbouring upper structure The substantially flat back of part 296, has gap between motor and wobble-plate.Magnetic field line is on the direction of substantial axial Motor is left by upper member, the gap across motor and wobble-plate again passes through wobble-plate and motor by wobble-plate Between gap, and upwardly through upper member enter motor in the side of substantial axial.

When motor 212 causes wobble-plate nutating, wobble-plate 214 wave tooth and the stator tooth of stator is engageable to cause Wobble-plate rotates.The end-tooth of wobble-plate 214 and the output gear of output board are engageable to cause output board identical as wobble-plate Side rotate up.Therefore the electromagnetic energy of motor 212 can be converted into the rotation of output board.

Mode of operation/application

Figure 11 depicts a kind of method for operating the virtual Ellipse motion driven device of autoregistration, is usually indicated with 300.In step 302, method 300 includes：Tablet with input tooth is provided, provides the wobble-plate for carrying and waving tooth and end-tooth, and carry For the internal gear with stator tooth.Such as it constructs with the above ground of description in example 1 as shown in Figure 1 and assembles tablet, shakes Wobble plate and internal gear, or in such a way that any other suitably meets this introduction and construction come construct and assemble tablet, Wobble-plate and internal gear.

In step 304, method 300 includes that tablet is made to be rotated around rotation axis.In step 306, method 300 includes making Tooth and end face tooth engagement are inputted, is rotated so as to cause wobble-plate.Input tooth and end-tooth setting can formed two complementary cones In the frusta-conical surface of body so that the engagement of tooth causes complementary cone to return to alignment.In step 308, method 300 includes making to wave Tooth and stator tooth engagement, so as to cause wobble-plate nutating.It can be wedge-shaped to wave tooth and stator tooth, these teeth form two mutually Mend cone so that the engagement of tooth causes complementary cone to return to alignment.

Tablet can be made to be separated with preset distance and stator, to limit wobble-plate relative to internal gear so that angle of oscillation It keeps constant, and there is no part that can be more than the preset distance with a distance from internal gear on wobble-plate.

In some embodiments, this method may include dispersing rotating energy by making wobble-plate nutating.In other implementations In example, this method can further comprise the rotation for stopping tablet, then allow the inertia energy of nutating and the wobble-plate of rotation Tablet is set to rotate.

Figure 12 depicts another method for operating the virtual Ellipse motion driven device of autoregistration, is usually indicated with 400.In step Rapid 402, method 400 includes：Motor is provided, at least one circular protrusions are may include in substantially flat surface, and Rotation axis can be limited；It provides with the wobble-plate for waving tooth and end-tooth；Internal gear with stator tooth is provided；And it carries For the output board with output gear.Such as motor is constructed as shown in Fig. 4 to Fig. 8 and described in example 2 and assembled above, is shaken Wobble plate, internal gear and output board, or construct and assemble with construction in such a way that any other suitably meets this introduction Motor, wobble-plate, internal gear and output board.

In step 404, method 400 includes making electrical power, and motor can surround rotation axis and rotate.In step 406, method 400 include that motor is made to be engaged with wobble-plate.The engagement may include making one or more circular protrusions of motor and the base of wobble-plate Flat surface engagement in sheet, so as to cause wobble-plate nutating.In step 408, method 400 includes making to wave tooth to nibble with stator tooth It closes, is rotated so as to cause wobble-plate.In step 410, method 400 includes that the end-tooth of wobble-plate and the output gear of output board is made to nibble It closes, is rotated so as to cause output board.

It can will input tooth and end-tooth is arranged in the frusta-conical surface for forming two complementary cones so that the engagement of tooth is led Complementary cone is caused to return to alignment.It can be wedge-shaped to wave tooth and stator tooth, these teeth form two complementary cones so that tooth Engagement causes complementary cone to return to alignment.

In some embodiments, this method can further comprise, stop the rotation of motor and output board is allowed to stop.The party Method can further comprise, electrical power is made to be rotated in a second rotational direction to surround rotation axis, to make output board Two sides rotate up.

Method 400 can be additionally used in the virtual Ellipse motion driven device of autoregistration for the construction that operation meets described in example 3.In step Rapid 402, for example, method 400 may include：The motor of electromagnetic coil with permanent magnet and one group of restriction central axial line is provided；It carries For the wobble-plate with the magnetic-sensitive material for waving tooth and end-tooth；Internal gear with stator tooth is provided；And it provides and carries The output board of output gear.As motor, wobble-plate, internal gear and output board are constructed and assembled described in example 3 above, or Person is in such a way that any other suitably meets this introduction and construction constructs and assemble motor, wobble-plate, internal gear and defeated Ejecting plate.

When together with magnetic force application method 400, then in step 404, method 400 may include making electrical power, this is in electricity The magnetic field that highest flux density is carried at shift position is generated between machine and wobble-plate.In step 406, method 400 is in this feelings Condition includes, by magnetizing the magnetic-sensitive material of wobble-plate with the magnetic field of motor, to make motor be engaged with wobble-plate, to shake Applied force in wobble plate.Can at the shift position of highest flux density applied force, to being generated most between wobble-plate and motor Proximity near point, and lead to wobble-plate nutating.

In step 408, method 400 includes making to wave tooth and stator tooth engagement, is rotated so as to cause wobble-plate.In step 410, method 400 includes the output tooth engagement of the end-tooth and output board that make wobble-plate, is rotated so as to cause output board.At some In embodiment, this method can further comprise stopping the rotation of motor and output board is allowed to stop.When together with magnetic force in use, should Method can further comprise making electrical power so that the shift position of highest flux density moves in the opposite direction, to make Output board rotates in a second direction.

Application method according to this teaching can be used together with any virtual Ellipse motion driven device embodiment of the machinery described before. Although the various steps of method 300 and 400 are described and depicted in Figure 11 to Figure 12, these steps are without necessary It all executes, can execute with shown order different, can be performed simultaneously in some cases in some cases.

Further, the disclosure includes the embodiment according to following fund：

Fund 1：One kind waving sheet drive, including：Internal gear has central stator axis and is arranged in inner cylinder Multiple stator tooths；Wobble-plate, with the axis of oscillation being arranged with non-zero angle of oscillation relative to axis stator, perpendicular to swinging shaft The joint surface of line, the multiple end-tooths being arranged on joint surface and it is arranged around the periphery of wobble-plate and is configured to and stator The multiple of tooth engagement wave tooth；And output board, it is substantially aligned and has with axis stator and be configured to and end face tooth engagement Multiple output gears；Wherein, at least the two in multiple tooth is configured to be engaged with each other in a self-aligned manner so that works as wobble-plate When around internal gear nutating, angle of oscillation is kept constant.

Fund 2：Sheet drive is waved according to fund 1, wherein：At least one tooth that waves is wedge-shaped, wherein should At least one surface for waving tooth limits the First Line for the barycenter that can extend through wobble-plate；And at least one stator tooth is wedge Shape, wherein the surface of at least one stator tooth limits the second line of the barycenter that can extend through wobble-plate.

Fund 3：Sheet drive is waved according to fund 1, wherein：The frusta-conical surface in wobble-plate is arranged in end-tooth On so that the barycenter of wobble-plate is overlapped with the vertex of the frusta-conical surface of wobble-plate；And cutting in output board is arranged in output gear On conical surface so that the barycenter of wobble-plate is overlapped with the vertex of the frusta-conical surface of output board.

Fund 4：Sheet drive is waved according to fund 1, wherein wobble-plate is limited so that during nutating There is no part to be more than a preset distance with a distance from internal gear on wobble-plate.

Fund 5：Sheet drive is waved according to fund 1, wherein is waved tooth and end-tooth and is being parallel to axis of oscillation Opposite direction on extend, and wobble-plate be arranged between internal gear and output board.

Fund 6：Sheet drive is waved according to fund 1, wherein is waved tooth and end-tooth and is being parallel to axis of oscillation The same direction on extend, and internal gear be arranged between wobble-plate and output board.

Fund 7：Sheet drive is waved according to fund 6, further comprises motor, is configured to that wobble-plate is caused to enclose Around the nutating of internal gear, wherein wobble-plate causes wobble-plate to rotate around the nutating of internal gear, and the rotation of wobble-plate Output board is caused to rotate.

Fund 8：Sheet drive is waved according to fund 7, wherein：Motor be with substantially flat surface and from The motor at least one circular protrusions that substantially flat surface extends；Wobble-plate have it is opposite with joint surface substantially Flat face；And at least one circular protrusions are configured to engage with the substantially flat face of wobble-plate.

Fund 9：Sheet drive is waved according to fund 7, wherein：Motor includes permanent magnet and one group of electromagnetic coil； Wobble-plate is made of magnetic-sensitive material；And permanent magnet and this group of electromagnetic coil jointly constructs are to be generated between motor and wobble-plate The magnetic field of highest flux density is carried at a shift position.

Fund 10：One group is waved sheet drive, including：Internal gear has central stator axis and is arranged in inner cylinder On multiple stator tooths；Wobble-plate has the axis of oscillation being arranged with non-zero angle of oscillation relative to axis stator, perpendicular to waving The joint surface of axis, the multiple end-tooths being arranged on joint surface and in the plane vertical with joint surface and axis of oscillation What is be arranged around the periphery of wobble-plate multiple waves tooth；And output board, it is substantially aligned with axis stator and there is construction For multiple output gears with end face tooth engagement；And the device for making stator tooth with waving tooth autoregistration and engage so that when shaking Angle of oscillation is kept constant when wobble plate surrounds internal gear nutating.

Fund 11：Sheet drive is waved according to fund 10, wherein：At least one tooth that waves is wedge-shaped, wherein At least one surface for waving tooth limits the First Line for the barycenter that can extend through wobble-plate；And at least one stator tooth is Wedge shape, wherein the surface of at least one stator tooth limits the second line of the barycenter that can extend through wobble-plate.

Fund 12：Sheet drive is waved according to fund 10, wherein：The truncated cone shape table in wobble-plate is arranged in end-tooth On face so that the barycenter of wobble-plate is overlapped with the vertex of the frusta-conical surface of wobble-plate；And output gear is arranged in output board In frusta-conical surface so that the barycenter of wobble-plate is overlapped with the vertex of the frusta-conical surface of output board.

Fund 13：According to the wobble-plate described in fund 10, wherein wobble-plate is limited so that during nutating and waves There is no part to be more than a preset distance with a distance from internal gear on plate.

Fund 14：Sheet drive is waved according to fund 10, wherein is waved tooth and end-tooth and is being parallel to swinging shaft Extend in the opposite direction of line, and wobble-plate is arranged between internal gear and output board.

Fund 15：Sheet drive is waved according to fund 10, wherein is waved tooth and end-tooth and is being parallel to swinging shaft Extend on the same direction of line, and internal gear is arranged between wobble-plate and output board.

Fund 16：A method of sheet drive is waved in operation, including：Internal gear, wobble-plate and output board are provided； Multiple stator tooths of internal gear are made to wave tooth engagement with the multiple of wobble-plate in a self-aligned manner；Make multiple ends of wobble-plate Face tooth in a self-aligned manner with multiple output tooth engagements of output board；And cause nutating of the wobble-plate around internal gear.

Fund 17：According to the method described in fund 16, wherein cause the nutating of wobble-plate to include：Make electrical power to enclose It is rotated around rotation axis, motor has at least one circle that substantially flat surface and basically flat surface extend Protrusion；And at least one circular protrusions is made to be engaged with the substantially flat surface of wobble-plate, so as to cause wobble-plate chapter It is dynamic.

Fund 18：According to the method described in fund 16, wherein cause the nutating of wobble-plate to include：Make include permanent magnet and The electrical power of one group of electromagnetic coil carries highest flux density to be generated between motor and wobble-plate at a shift position Magnetic field, so as to cause wobble-plate nutating.

Fund 19：According to the method described in fund 16, wherein：The nutating of wobble-plate is caused to include：Output board is set to rotate；When So that output board is rotated when end-tooth is with output tooth engagement, wobble-plate is caused to rotate；And when stator tooth shakes with when waving tooth engagement The rotation of wobble plate leads to wobble-plate nutating.

Fund 20：According to the method described in fund 16, further comprise that limiting wobble-plate to wave during nutating There is no part to be more than a preset distance with a distance from internal gear on plate.

Advantage, feature, benefit

The different embodiments that sheet drive is waved in autoregistration described herein are provided better than for compact to design and cost Several advantages of the effective known solution for waving sheet drive.For example, sheet drive is waved in autoregistration described herein Illustrative embodiment allow driver do not have support shaft or fulcrum.In addition, in other benefits, autoregistration described herein The illustrative embodiment of wobble-plate reduces vibration, by the bonding (binding) of the rub heat and gear teeth that generate.Not yet There are known system or device to can perform these functions, especially in volume small in this way.However, not all retouch herein The embodiment stated all provides the advantages of identical advantage or same degree.

Conclusion

Disclosure set forth above content may include multiple and different with the invention independently used.Although preferred at it Each invention in these inventions is disclosed in form, but will not be considered in the sense that restricted as being disclosed herein and illustrating Its specific embodiment illustrated, because perhaps diverse possible.For using paragraph heading in the disclosure, this title Merely to organizational goal, does not constitute the feature of any claimed invention.The theme of the disclosure includes disclosed herein All novel and non-obvious combination and the sub-portfolio of various elements, feature, function and/or characteristic.Following right is wanted It asks to point out and certain is considered novel and non-obvious combination and sub-portfolio.It can be in the application for requiring its priority Or the hair in other combinations included in feature, function, element and/or characteristic and sub-portfolio is claimed in related application It is bright.These claims are either related to different inventions or identical invention, and no matter are wanted with original rights in range Seeking Truth is wider, narrower, equal or different, is recognized as in the theme for being included in the invention of present disclosure.

Claims

1. one kind waving sheet drive (10,110,210), including：

Internal gear (16,116) has central stator axis (54,154) and setting multiple fixed in inner cylinder (50,150) Sub- tooth (32,132)；

Wobble-plate (14,114,214) has the axis of oscillation being arranged with the angle of oscillation of non-zero relative to the central stator axis (22,122,222), perpendicular to the axis of oscillation joint surface (26,126), multiple end faces for being arranged on the joint surface Tooth (28,128) and it is arranged around the periphery of the wobble-plate and is configured to wave tooth with the multiple of stator tooth engagement (30,130)；And

Output board (118) is with the central stator axis substantial registration and more with the end face tooth engagement with being configured to A output gear (134)；

Wherein, the multiple stator tooth, the multiple wave in tooth, the multiple end-tooth and the multiple output gear extremely It is both few to be configured to be engaged with each other in a self-aligned manner so that when the wobble-plate surrounds the internal gear nutating, institute Angle of oscillation is stated to keep constant.

2. according to claim 1 wave sheet drive, wherein：

At least one tooth (30,130) that waves is wedge-shaped, wherein at least one surface for waving tooth limits and can extend through The First Line of the barycenter of the wobble-plate；And

At least one stator tooth (32,132) is wedge-shaped, can be extended through wherein the surface of at least one stator tooth limits Second line of the barycenter of the wobble-plate.

3. according to claim 1 wave sheet drive, wherein：

The end-tooth is arranged in the frusta-conical surface (164) of the wobble-plate so that the barycenter of the wobble-plate with it is described The vertex of the frusta-conical surface of wobble-plate overlaps；And

The output gear is arranged in the frusta-conical surface (162) of the output board so that the barycenter of the wobble-plate with it is described The vertex of the frusta-conical surface of output board overlaps.

4. according to claim 1 wave sheet drive, wherein the wobble-plate is limited so that during nutating There is no part to be more than a preset distance with a distance from the internal gear on the wobble-plate.

5. according to claim 1 wave sheet drive, wherein tooth and the end-tooth of waving is described in being parallel to Extend in the opposite direction of axis of oscillation, and the wobble-plate is arranged between the internal gear and the output board.

6. according to claim 1 wave sheet drive, wherein tooth and the end-tooth of waving is described in being parallel to Extend on the same direction of axis of oscillation, and the internal gear is arranged between the wobble-plate and the output board.

7. the method (400) of sheet drive (10,110,210) is waved in a kind of operation, including：

Internal gear (16,116), wobble-plate (14,114,214) and output board (118) are provided；

Multiple stator tooths (32,132) of the internal gear and the multiple of the wobble-plate are made to wave tooth (30,130) with from right Accurate mode engages；

The multiple end-tooths for making the wobble-plate engage in a self-aligned manner with multiple output gears (134) of the output board； And

The wobble-plate is caused to surround the nutating of the internal gear.

8. according to the method described in claim 7, wherein, the nutating of the wobble-plate is caused to include：

Motor (112,212) is set to be powered to surround rotation axis (20,120,220) rotation, the motor has substantially planar Surface (136) and from the substantially flat surface extend at least one circular protrusions；And

At least one circular protrusions are made to be engaged with a substantially flat surface of the wobble-plate, so that described shake Wobble plate nutating.

9. according to the method described in claim 7, wherein, the nutating of the wobble-plate is caused to include：

Make to include that the motor (112,212) of permanent magnet (268) and one group of electromagnetic coil (274,286,288) is powered, with described The magnetic field that highest flux density is carried at a shift position is generated between motor and the wobble-plate, so that described wave Plate nutating.

10. according to the method described in claim 7, wherein：

It includes that the output board is made to rotate to cause the nutating of the wobble-plate；

Make the output board rotation that the wobble-plate be caused to rotate when the end-tooth and the output tooth engagement；And

When the stator tooth with it is described wave tooth engagement when the wobble-plate rotation lead to the wobble-plate nutating.